举报
fengkx
一般用优化的方法求解,先编写函数:
function f=fx(x)
x1=5;%给定的值
px=;
py=;
pz=;
a3=;
d4=;
a1=
a2=;
x2=x(1);
x3=x(2)
c23=cos(x2+x3);
s23=sin(x2+x3);
c2=cos(x2);
s2=sin(x2);
s3=sin(x3);
c3=cos(x3);
c1=cos(x1);
s1=sin(x1);
f(1)=c1*px+s1*py-(a3*c23+s23*d4+a1+a2*c2);
f(2)=pz-a3*s23-d4*c23+a2*s2;
然后
>> [x,f]=fsolve(@fx,[1,30])